\hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel}{}\doxysection{calico\+::sensors\+::Accelerometer\+Scale\+And\+Bias\+Model Class Reference}
\label{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel}\index{calico::sensors::AccelerometerScaleAndBiasModel@{calico::sensors::AccelerometerScaleAndBiasModel}}


{\ttfamily \#include $<$accelerometer\+\_\+models.\+h$>$}



Inheritance diagram for calico\+::sensors\+::Accelerometer\+Scale\+And\+Bias\+Model\+:
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Collaboration diagram for calico\+::sensors\+::Accelerometer\+Scale\+And\+Bias\+Model\+:
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\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ad50da2225a9c7d20ad7428c880e95480}\label{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ad50da2225a9c7d20ad7428c880e95480}} 
\mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel}{Accelerometer\+Scale\+And\+Bias\+Model}} \& {\bfseries operator=} (const \mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel}{Accelerometer\+Scale\+And\+Bias\+Model}} \&)=default
\item 
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_a4450441e0a4554b6045ab7057cb804ab}\label{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_a4450441e0a4554b6045ab7057cb804ab}} 
\mbox{\hyperlink{namespacecalico_1_1sensors_a911841171d662dc3e4bf4b39463a4c42}{Accelerometer\+Intrinsics\+Model}} \mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_a4450441e0a4554b6045ab7057cb804ab}{Get\+Type}} () const final
\begin{DoxyCompactList}\small\item\em Getter for accelerometer model type. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_a50c755d35e189c9cffb98fc692d8f781}\label{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_a50c755d35e189c9cffb98fc692d8f781}} 
int \mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_a50c755d35e189c9cffb98fc692d8f781}{Number\+Of\+Parameters}} () const final
\begin{DoxyCompactList}\small\item\em Getter for the number of parameters for this model. \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{Static Public Member Functions}
\begin{DoxyCompactItemize}
\item 
{\footnotesize template$<$typename T $>$ }\\static absl\+::\+Status\+Or$<$ Eigen\+::\+Vector3$<$ T $>$ $>$ \mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ad67fe62b6fce2960f1bd5b52d2cc5a32}{Project}} (const Eigen\+::\+VectorX$<$ T $>$ \&intrinsics, const Eigen\+::\+Vector3$<$ T $>$ \&p\+\_\+sensor\+\_\+world\+\_\+sensor)
\item 
{\footnotesize template$<$typename T $>$ }\\static absl\+::\+Status\+Or$<$ Eigen\+::\+Vector3$<$ T $>$ $>$ \mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ad45a32abd92a9b477496cf628df98da8}{Unproject}} (const Eigen\+::\+VectorX$<$ T $>$ \&intrinsics, const Eigen\+::\+Vector3$<$ T $>$ \&measurement)
\end{DoxyCompactItemize}
\doxysubsection*{Static Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ab43541a64dad7e14bdf906b2a39ef673}\label{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ab43541a64dad7e14bdf906b2a39ef673}} 
static constexpr int {\bfseries k\+Number\+Of\+Parameters} = 4
\item 
static constexpr \mbox{\hyperlink{namespacecalico_1_1sensors_a911841171d662dc3e4bf4b39463a4c42}{Accelerometer\+Intrinsics\+Model}} {\bfseries k\+Model\+Type}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
4-\/parameter scale + bias intrinsics model. Parameter order\+: $[s, b_x, b_y, b_z]$ 

\doxysubsection{Member Function Documentation}
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ad67fe62b6fce2960f1bd5b52d2cc5a32}\label{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ad67fe62b6fce2960f1bd5b52d2cc5a32}} 
\index{calico::sensors::AccelerometerScaleAndBiasModel@{calico::sensors::AccelerometerScaleAndBiasModel}!Project@{Project}}
\index{Project@{Project}!calico::sensors::AccelerometerScaleAndBiasModel@{calico::sensors::AccelerometerScaleAndBiasModel}}
\doxysubsubsection{\texorpdfstring{Project()}{Project()}}
{\footnotesize\ttfamily template$<$typename T $>$ \\
static absl\+::\+Status\+Or$<$Eigen\+::\+Vector3$<$T$>$ $>$ calico\+::sensors\+::\+Accelerometer\+Scale\+And\+Bias\+Model\+::\+Project (\begin{DoxyParamCaption}\item[{const Eigen\+::\+VectorX$<$ T $>$ \&}]{intrinsics,  }\item[{const Eigen\+::\+Vector3$<$ T $>$ \&}]{p\+\_\+sensor\+\_\+world\+\_\+sensor }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}

Returns measurement $\mathbf{f}$, a 3-\/D vector such that \[ \mathbf{f} = s\mathbf{p}^s_{ws} + \left[\begin{matrix}b_x\\b_y\\b_z\end{matrix}\right] \] \mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ad45a32abd92a9b477496cf628df98da8}\label{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ad45a32abd92a9b477496cf628df98da8}} 
\index{calico::sensors::AccelerometerScaleAndBiasModel@{calico::sensors::AccelerometerScaleAndBiasModel}!Unproject@{Unproject}}
\index{Unproject@{Unproject}!calico::sensors::AccelerometerScaleAndBiasModel@{calico::sensors::AccelerometerScaleAndBiasModel}}
\doxysubsubsection{\texorpdfstring{Unproject()}{Unproject()}}
{\footnotesize\ttfamily template$<$typename T $>$ \\
static absl\+::\+Status\+Or$<$Eigen\+::\+Vector3$<$T$>$ $>$ calico\+::sensors\+::\+Accelerometer\+Scale\+And\+Bias\+Model\+::\+Unproject (\begin{DoxyParamCaption}\item[{const Eigen\+::\+VectorX$<$ T $>$ \&}]{intrinsics,  }\item[{const Eigen\+::\+Vector3$<$ T $>$ \&}]{measurement }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}

Inverts the measurement model to obtain specific force as observed by the sensor. \[ \mathbf{p}^s_{ws} = \frac{1}{s}\left(\mathbf{f} - \left[\begin{matrix}b_x\\b_y\\b_z\end{matrix}\right]\right) \] 

\doxysubsection{Member Data Documentation}
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ae88b721091d80381789f261b612cda81}\label{classcalico_1_1sensors_1_1AccelerometerScaleAndBiasModel_ae88b721091d80381789f261b612cda81}} 
\index{calico::sensors::AccelerometerScaleAndBiasModel@{calico::sensors::AccelerometerScaleAndBiasModel}!kModelType@{kModelType}}
\index{kModelType@{kModelType}!calico::sensors::AccelerometerScaleAndBiasModel@{calico::sensors::AccelerometerScaleAndBiasModel}}
\doxysubsubsection{\texorpdfstring{kModelType}{kModelType}}
{\footnotesize\ttfamily constexpr \mbox{\hyperlink{namespacecalico_1_1sensors_a911841171d662dc3e4bf4b39463a4c42}{Accelerometer\+Intrinsics\+Model}} calico\+::sensors\+::\+Accelerometer\+Scale\+And\+Bias\+Model\+::k\+Model\+Type\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}

{\bfseries Initial value\+:}
\begin{DoxyCode}{0}
\DoxyCodeLine{=}
\DoxyCodeLine{      \mbox{\hyperlink{namespacecalico_1_1sensors_a911841171d662dc3e4bf4b39463a4c42a8fd5773547ffe792d7cddcc07f5260b5}{AccelerometerIntrinsicsModel::kAccelerometerScaleAndBias}}}

\end{DoxyCode}


The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
\item 
calico/sensors/accelerometer\+\_\+models.\+h\end{DoxyCompactItemize}
